plugin_info.h

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#ifndef TESSERACT_COMMON_PLUGIN_INFO_H
#define TESSERACT_COMMON_PLUGIN_INFO_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/export.hpp>
#include <Eigen/Core>
#include <vector>
#include <map>
#include <yaml-cpp/yaml.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/eigen_types.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_common
{
struct Serialization;
 
// NOLINTNEXTLINE
struct PluginInfo
{
  std::string class_name;
 
  YAML::Node config;
 
  std::string getConfigString() const;
 
  bool operator==(const PluginInfo& rhs) const;
  bool operator!=(const PluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void save(Archive& ar, const unsigned int version) const;  // NOLINT
 
  template <class Archive>
  void load(Archive& ar, const unsigned int version);  // NOLINT
 
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
using PluginInfoMap = std::map<std::string, PluginInfo>;
 
struct PluginInfoContainer
{
  std::string default_plugin;
  PluginInfoMap plugins;
  void clear();
 
  bool operator==(const PluginInfoContainer& rhs) const;
  bool operator!=(const PluginInfoContainer& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct KinematicsPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  std::map<std::string, tesseract_common::PluginInfoContainer> fwd_plugin_infos;
 
  std::map<std::string, tesseract_common::PluginInfoContainer> inv_plugin_infos;
 
  void insert(const KinematicsPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "kinematic_plugins" };
 
  bool operator==(const KinematicsPluginInfo& rhs) const;
  bool operator!=(const KinematicsPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct ContactManagersPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  tesseract_common::PluginInfoContainer discrete_plugin_infos;
 
  tesseract_common::PluginInfoContainer continuous_plugin_infos;
 
  void insert(const ContactManagersPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "contact_manager_plugins" };
 
  bool operator==(const ContactManagersPluginInfo& rhs) const;
  bool operator!=(const ContactManagersPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
struct TaskComposerPluginInfo
{
  std::set<std::string> search_paths;
 
  std::set<std::string> search_libraries;
 
  tesseract_common::PluginInfoContainer executor_plugin_infos;
 
  tesseract_common::PluginInfoContainer task_plugin_infos;
 
  void insert(const TaskComposerPluginInfo& other);
 
  void clear();
 
  bool empty() const;
 
  // Yaml Config key
  static inline const std::string CONFIG_KEY{ "task_composer_plugins" };
 
  bool operator==(const TaskComposerPluginInfo& rhs) const;
  bool operator!=(const TaskComposerPluginInfo& rhs) const;
 
private:
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_common
 
BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfo)
BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfoContainer)
BOOST_CLASS_EXPORT_KEY(tesseract_common::KinematicsPluginInfo)
BOOST_CLASS_EXPORT_KEY(tesseract_common::ContactManagersPluginInfo)
BOOST_CLASS_EXPORT_KEY(tesseract_common::TaskComposerPluginInfo)
 
#endif  // TESSERACT_COMMON_PLUGIN_INFO_H